After grabbing on to the wall, you can move up or down, or press in the opposite direction of the wall to jump off. Pressing Punch will make you strike with your sword, and pressing Down + a kick button will make you slide down quickly.

Also just pressing a Kick button will make you leap from the wall and do a arcing kick attack. Hard Kick travels forward the most distance, while Light Kick travels almost directly down.

Hyper (Super) Moves

Ouroboros (Orbs)

Ragnarok

Legion

Command Normals and Other Moves

Rolling Slide Kick

(In the Air when close to a wall)
Wall Jump

(In the air)
Double Jump
You can also use the diagonally-up positions to Double Jump in those directions.